# This message represents a low-level motor command to Jackal.

# Command units dependent on the value of this field
int8 MODE_VELOCITY=0   # velocity command (rad/s of wheels)
int8 MODE_PWM=1        # proportion of full voltage command [-1.0..1.0]
int8 MODE_EFFORT=2     # torque command (Nm)
int8 MODE_NONE=-1      # no control, commanded values ignored.
int8 mode

# Units as above, +ve direction propels chassis forward.
int8 LEFT=0
int8 RIGHT=1
float32[2] drivers
